public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); oXml.AddChildElement("LowerRadius", m_fLowerRadius); oXml.AddChildElement("UpperRadius", m_fUpperRadius); oXml.AddChildElement("Height", m_fHeight); oXml.AddChildElement("CollisionLowerRadius", m_fLowerRadius); oXml.AddChildElement("CollisionUpperRadius", m_fUpperRadius); oXml.AddChildElement("CollisionHeight", m_fHeight); oXml.OutOfElem(); //out of body }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData (ref dsSim, ref doStructure, ref oXml); Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix); Vector3 rot = m_v3Rotation; rot.Normalize(); AnimatTools.Framework.Vec3d v = new Vec3d(null, rot.X, rot.Y, rot.Z); oXml.IntoElem(); //oXml.AddChildElement("Stiffness", this.Stiffness.ActualValue); //oXml.AddChildElement("Damping", this.Damping.ActualValue); oXml.AddChildElement("ConstraintHalfAngle",m_fHalfAngle); m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z)); Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z); Util.SaveVector(ref oXml, "ConstraintAxis", vRotationAxis); oXml.OutOfElem(); m_v3Axis = new Vector3(0,0,1); }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { oXml.AddChildElement(this.BodyPartType); oXml.IntoElem(); //Into RigidBody Element oXml.AddChildElement("Name", m_strName); oXml.AddChildElement("ID", m_strID); oXml.AddChildElement("Type", this.Type); oXml.AddChildElement("PartType", this.PartType.ToString()); oXml.AddChildElement("ModuleName", this.ModuleName); Util.SaveColor(ref oXml, "Color", m_d3dMaterial.Diffuse); if(m_thPrimaryAttachment != null && m_thPrimaryAttachment.BodyPart != null) oXml.AddChildElement("PrimaryAttachmentID", m_thPrimaryAttachment.BodyPart.ID); if(m_thSecondaryAttachment != null && m_thSecondaryAttachment.BodyPart != null) oXml.AddChildElement("SecondaryAttachmentID", m_thSecondaryAttachment.BodyPart.ID); m_snNaturalLength.SaveData(ref oXml, "NaturalLength"); m_snStiffness.SaveData(ref oXml, "Stiffness"); m_snDamping.SaveData(ref oXml, "Damping"); oXml.AddChildElement("Enabled", m_bEnabled); oXml.AddChildElement("IsVisible", m_bVisible); oXml.OutOfElem(); //Outof RigidBody Element }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); if(!oXml.FindChildElement("Constraint", false)) oXml.AddChildElement("Constraint"); oXml.IntoElem(); oXml.SetAttrib("Low",this.m_fltMinMovement); oXml.SetAttrib("High", this.m_fltMaxMovement); oXml.OutOfElem(); oXml.AddChildElement("Length", m_fltLength); oXml.AddChildElement("EnableMotor",this.m_bEnableMotor); oXml.AddChildElement("ServoMotor",this.m_bServoMotor); oXml.AddChildElement("ServoGain",this.m_fltServoGain); m_snMaxForce.SaveData(ref oXml, "MaxForce"); m_snMaxVelocity.SaveData(ref oXml, "MaxVelocity"); RigidBodies.RigidBody_DX rbParent = (RigidBodies.RigidBody_DX)this.Parent; Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix);; float x = Geometry.DegreeToRadian(180); m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z)); Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z); Util.SaveVector(ref oXml, "RotationAxis", vRotationAxis); m_v3Axis = new Vector3(0,0,1); oXml.OutOfElem(); }
public static void SaveMatrix(ref AnimatTools.Interfaces.StdXml oXml, string strName, Matrix mtxM) { string str = mtxM.M11.ToString() +"," + mtxM.M12.ToString() +"," + mtxM.M13.ToString() +"," + mtxM.M14.ToString() +","; str += mtxM.M21.ToString() +"," + mtxM.M22.ToString() +"," + mtxM.M23.ToString() +"," + mtxM.M24.ToString() +","; str += mtxM.M31.ToString() +"," + mtxM.M32.ToString() +"," + mtxM.M33.ToString() +"," + mtxM.M34.ToString() +","; str += mtxM.M41.ToString() +"," + mtxM.M42.ToString() +"," + mtxM.M43.ToString() +"," + mtxM.M44.ToString(); oXml.AddChildElement(strName,str); }
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { m_aryChildBodies.Clear(); oXml.IntoElem(); //'Into RigidBody Element m_strID = oXml.GetChildString("ID"); m_strName = oXml.GetChildString("Name", m_strID); m_strDescription = oXml.GetChildString("Description", ""); if(m_strName.Trim().Length == 0) m_strName = m_strID; if(oXml.FindChildElement("Color", false)) { System.Drawing.Color oColor = Util.LoadColor(ref oXml, "Color"); this.Alpha = oColor.A; this.Color = oColor; } if(oXml.FindChildElement("MuscleAttachments", false)) { oXml.IntoElem(); oXml.AddChildElement("Description", m_strDescription); if(oXml.NumberOfChildren() > 2) throw new System.Exception("The standard spring can not have more than 2 attachment points."); else if(oXml.NumberOfChildren() == 2) { oXml.FindChildByIndex(0); m_strPrimaryAttachID = oXml.GetChildString(); oXml.FindChildByIndex(1); m_strSecondaryAttachID = oXml.GetChildString(); } else if(oXml.NumberOfChildren() == 1) { oXml.FindChildByIndex(0); m_strPrimaryAttachID = oXml.GetChildString(); } else { m_strPrimaryAttachID = ""; m_strSecondaryAttachID = ""; } oXml.OutOfElem(); } else { if(oXml.FindChildElement("PrimaryAttachmentID", false)) m_strPrimaryAttachID = oXml.GetChildString("PrimaryAttachmentID"); if(oXml.FindChildElement("SecondaryAttachmentID", false)) m_strSecondaryAttachID = oXml.GetChildString("SecondaryAttachmentID"); } m_snNaturalLength.LoadData(ref oXml, "NaturalLength"); m_snStiffness.LoadData(ref oXml, "Stiffness"); m_snDamping.LoadData(ref oXml, "Damping"); m_bEnabled = oXml.GetChildBool("Enabled", m_bEnabled); m_bVisible = oXml.GetChildBool("IsVisible", m_bVisible); oXml.OutOfElem(); //Outof RigidBody Element }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData(ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); //'Into RigidBody Element oXml.AddChildElement("ApplyTension", m_bApplyTension); m_snIaDischargeConstant.SaveData(ref oXml, "IaDischarge"); m_snIIDischargeConstant.SaveData(ref oXml, "IIDischarge"); oXml.OutOfElem(); //Outof RigidBody Element }
public override void SaveXml(ref AnimatTools.Interfaces.StdXml oXml) { if(m_doOrganism == null) throw new System.Exception("No organism was defined for the stimulus '" + m_strName + "'."); if(m_doNode == null) throw new System.Exception("No node was defined for the stimulus '" + m_strName + "'."); //I have no idea why, but unders some conditions the object link we have to the node does not point to the //actual node. We need to re-get the link to make sure that the node index is actually valid. m_doNode = m_doOrganism.FindBehavioralNode(m_doNode.ID, true); if(m_doNode != null && m_thMuscle != null && m_thMuscle.BodyPart != null && m_strMuscleLengthData != null && m_strMuscleLengthData.Length > 0) { oXml.AddChildElement("Stimulus"); oXml.IntoElem(); oXml.AddChildElement("ID", m_strID); oXml.AddChildElement("Name", m_strName); //The module name needs to be blank so it is created from the physics class factory. //But we still need to know which neural module to load the neuron from. oXml.AddChildElement("ModuleName", this.StimulusModuleName); oXml.AddChildElement("NeuralModuleName", m_doNode.DataColumnModuleName); oXml.AddChildElement("Type", this.StimulusClassType); oXml.AddChildElement("OrganismID", m_doOrganism.ID); oXml.AddChildElement("TargetNodeID", m_doNode.NodeIndex); oXml.AddChildElement("MuscleID", m_thMuscle.BodyPart.ID); oXml.AddChildElement("LengthData", m_strMuscleLengthData); oXml.AddChildElement("Conductance", m_snConductance.ActualValue); oXml.AddChildElement("RestPotential", m_snRestPotential.ActualValue); oXml.OutOfElem(); } }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); oXml.AddChildElement("Height", m_fltHeight); oXml.AddChildElement("HeightFieldImage", m_strHeightFieldImage); Util.SaveVector(ref oXml, "MapLocation", m_vMapLocation); Util.SaveVector(ref oXml, "MapSize", m_vMapSize); oXml.AddChildElement("MapScale", m_fltMapScale); oXml.OutOfElem(); //out of body }
public override void SaveData(ref AnimatTools.Interfaces.StdXml oXml) { Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(m_mtxOrientation); m_fltRotateX = v3Rot.X; m_fltRotateY = v3Rot.Y; m_fltRotateZ = v3Rot.Z; oXml.AddChildElement("PanX", m_fltPanX); oXml.AddChildElement("PanY", m_fltPanY); oXml.AddChildElement("Zoom", m_fltZoom); oXml.AddChildElement("RotateX", m_fltRotateX); oXml.AddChildElement("RotateY", m_fltRotateY); oXml.AddChildElement("RotateZ", m_fltRotateZ); Util.SaveColor(ref oXml, "BackColor", m_clBackColor); }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData(ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); //Into RigidBody Element m_snNaturalLength.SaveData(ref oXml, "NaturalLength"); m_snStiffness.SaveData(ref oXml, "Stiffness"); m_snDamping.SaveData(ref oXml, "Damping"); oXml.AddChildElement("ForceType", m_eForceType.ToString()); oXml.OutOfElem(); //Outof RigidBody Element }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); if(m_thOdorType != null && m_thOdorType.OdorType != null) oXml.AddChildElement("OdorTypeID", m_thOdorType.OdorType.ID); oXml.OutOfElem(); //out of body }
public static void SaveMeshVertices(ref AnimatTools.Interfaces.StdXml oXml, string strName, Mesh myMesh, bool bSaveIndices) { CustomVertex.PositionNormalTextured[] cvVerts = new CustomVertex.PositionNormalTextured[myMesh.NumberVertices]; oXml.AddChildElement(strName); oXml.IntoElem(); //Into the mesh GraphicsStream buffer = myMesh.LockVertexBuffer(LockFlags.ReadOnly); AnimatTools.Framework.Vec3d vVertex = new AnimatTools.Framework.Vec3d(null); for(int i=0; i<myMesh.NumberVertices; i++) { buffer.Position = i * myMesh.NumberBytesPerVertex; cvVerts[i] = (CustomVertex.PositionNormalTextured)buffer.Read(typeof(CustomVertex.PositionNormalTextured)); //System.Diagnostics.Debug.WriteLine("v " + cvVerts[i].X + " " + cvVerts[i].Y + " " + cvVerts[i].Z); vVertex.X = cvVerts[i].X;// - this.AbsoluteLocation.X; vVertex.Y = cvVerts[i].Y;// - this.AbsoluteLocation.Y; vVertex.Z = cvVerts[i].Z;// - this.AbsoluteLocation.Z; Util.SaveVector(ref oXml, "Vector", vVertex); //Debug.WriteLine("data.Write(new CustomVertex.PositionTextured(" + vVertex.X + "f, " + vVertex.Y + "f, " + vVertex.Z + "f, 0f, 0f));"); //if(i%3 == 0) Debug.WriteLine(""); //Debug.WriteLine("V: " + i + " (" + cvVerts[i].X + ", " + cvVerts[i].Y + ", " + cvVerts[i].Z + ", " + cvVerts[i].Nx + ", " + cvVerts[i].Ny + ", " + cvVerts[i].Nz + ")"); } myMesh.UnlockVertexBuffer(); if(bSaveIndices) { using (IndexBuffer ib = myMesh.IndexBuffer) { GraphicsStream gs = ib.Lock(0, myMesh.NumberFaces*3*2, LockFlags.ReadOnly); string strIndex = ""; short iIndex; for(int i=0; i<myMesh.NumberFaces*3; i++) { gs.Position = i * 2; iIndex = (short) gs.Read(typeof(short)); strIndex += iIndex.ToString(); if(i<gs.Length-1) strIndex += ","; } oXml.AddChildElement("IndexBuffer", strIndex); ib.Unlock(); } } oXml.OutOfElem(); //Out of the mesh }
public override void SaveData(ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData(ref oXml); oXml.IntoElem(); if(m_thMuscle != null && m_thMuscle.BodyPart != null) oXml.AddChildElement("MuscleID", m_thMuscle.BodyPart.ID); oXml.AddChildElement("MuscleLengthData", m_strMuscleLengthData); m_snConductance.SaveData(ref oXml, "Conductance"); m_snRestPotential.SaveData(ref oXml, "RestPotential"); oXml.OutOfElem(); }
public override void SaveData(ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData(ref oXml); oXml.IntoElem(); if(m_thPrimaryAttachment != null && m_thPrimaryAttachment.BodyPart != null) oXml.AddChildElement("PrimaryAttachmentID", m_thPrimaryAttachment.BodyPart.ID); if(m_thSecondaryAttachment != null && m_thSecondaryAttachment.BodyPart != null) oXml.AddChildElement("SecondaryAttachmentID", m_thSecondaryAttachment.BodyPart.ID); oXml.AddChildElement("PGain", m_fltProportionalGain); oXml.AddChildElement("DGain", m_fltDerivativeGain); oXml.AddChildElement("IGain", m_fltIntegratorGain); oXml.AddChildElement("MaxIValue", m_fltMaxIntegratorValue); m_snVelocity.SaveData(ref oXml, "Velocity"); m_snMaxForce.SaveData(ref oXml, "MaxForce"); oXml.OutOfElem(); }
public override void SaveDataColumnToXml(ref AnimatTools.Interfaces.StdXml oXml) { oXml.IntoElem(); oXml.AddChildElement("StimulusID", this.ID); oXml.OutOfElem(); }
public override void SaveXml(ref AnimatTools.Interfaces.StdXml oXml) { if(m_doStructure == null) throw new System.Exception("No structure was defined for the stimulus '" + m_strName + "'."); if(m_doBodyPart == null) throw new System.Exception("No bodypart was defined for the stimulus '" + m_strName + "'."); if(m_thPrimaryAttachment != null && m_thPrimaryAttachment.BodyPart != null && m_thSecondaryAttachment != null && m_thSecondaryAttachment.BodyPart != null) { oXml.AddChildElement("Stimulus"); oXml.IntoElem(); oXml.AddChildElement("ID", m_strID); oXml.AddChildElement("Name", m_strName); oXml.AddChildElement("AlwaysActive", m_bAlwaysActive); oXml.AddChildElement("ModuleName", this.StimulusModuleName); oXml.AddChildElement("Type", this.StimulusClassType); oXml.AddChildElement("StartTime", m_snStartTime.ActualValue); oXml.AddChildElement("EndTime", m_snEndTime.ActualValue); oXml.AddChildElement("StructureID", m_doStructure.ID); oXml.AddChildElement("BodyID", m_doBodyPart.ID); oXml.AddChildElement("PrimaryAttachID", m_thPrimaryAttachment.BodyPart.ID); oXml.AddChildElement("SecondaryAttachID", m_thSecondaryAttachment.BodyPart.ID); oXml.AddChildElement("UsePosition", false); oXml.AddChildElement("Velocity", m_snVelocity.ActualValue); oXml.AddChildElement("MaxForce", m_snMaxForce.ActualValue); oXml.AddChildElement("PGain", m_fltProportionalGain); oXml.AddChildElement("DGain", m_fltDerivativeGain); oXml.AddChildElement("IGain", m_fltIntegratorGain); oXml.AddChildElement("MaxIVal", m_fltMaxIntegratorValue); oXml.OutOfElem(); } }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); RigidBodies.RigidBody_DX rbParent = (RigidBodies.RigidBody_DX)this.Parent; Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix);; float x = Geometry.DegreeToRadian(180); if(!oXml.FindChildElement("Constraint", false)) oXml.AddChildElement("Constraint"); oXml.IntoElem(); oXml.SetAttrib("Low",this.m_fltMinAngle); oXml.SetAttrib("High", this.m_fltMaxAngle); oXml.OutOfElem(); oXml.AddChildElement("EnableMotor",this.m_bEnableMotor); oXml.AddChildElement("ServoMotor",this.m_bServoMotor); oXml.AddChildElement("ServoGain",this.m_fltServoGain); m_snMaxTorque.SaveData(ref oXml, "MaxTorque"); m_snMaxVelocity.SaveData(ref oXml, "MaxVelocity"); // if(v3Rot.Y >= 180) // m_v3Axis.TransformCoordinate(/*Matrix.RotationX(Geometry.DegreeToRadian(180))* Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) **/ Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z)); // else //m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z)); Matrix m = this.CombinedTransformationMatrix; m.M41 = 0; m.M42 = 0; m.M43 = 0; //Quaternion q = Quaternion.RotationYawPitchRoll(v3Rot.Y, v3Rot.X, v3Rot.Z); //m_v3Axis.TransformCoordinate(Matrix.RotationQuaternion(q)); m_v3Axis.TransformCoordinate(m); //Vec3d vRotationAxis = new Vec3d(null,1, 0, 0); Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z); Util.SaveVector(ref oXml, "RotationAxis", vRotationAxis); oXml.OutOfElem(); m_v3Axis = new Vector3(0,0,1); }
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.SaveData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); oXml.AddChildElement("KillOrganism", m_bKillOrganism); m_snMaxEnergyLevel.SaveData(ref oXml, "MaxEnergyLevel"); m_snEnergyLevel.SaveData(ref oXml, "EnergyLevel"); m_snBaseConsumptionRate.SaveData(ref oXml, "BaseConsumptionRate"); oXml.OutOfElem(); //out of body }